I've been working on a quadruped robot for a few years now and I'm trying to design the best possible leg actuator. Along the way I discover interesting designs, as part of the open source community, I like to share those designs. Here is my NEMA 17 (or NEMA 23) powered joint for a robot arm.
Hi @gouldpa.
I like that you used Inventor for 3D design. It is one of my favorite.
If possible, feel free to add the parts list, 3D models for printing, and also more videos if you have them!
Thanks 
Looking forward to seeing the project progress. It looks like you’re creating a SPOT Mini derivation, which is quite a versatile design.
I’ve been developing my quad for the past few years in private. I was surprised how much Spot Mini looked like mine. I like the 
CAT equipment colour scheme.
Nice mechanism and the robot is aesthetically pleasing! I look forward to seeing the complete robot in action.
Hello @gouldpa !
What an incredible project, the video is really illustrative and I see that you have experience in the area. I can’t wait to see your project finished.
Thanks for sharing, if some one is looking to articulate a robot joint this is well worth considering. The lifting test shows that this has real potential and I already see ways where this could be at least doubled in a robot.
My only concern is the cost of the main bearings, I have 5 joints where it could be use, never the less the use of this type of gearing in my own project is something that I will definitely re-visit
